Elmomc SimplIQ Servo Drives Composer User Manual Manual de usuario descargar pdf (Pagina 43)

2.11.2 Automatically Tuning the Dual Loop

Using the auto-tuning mode provides more precise position loop tuning. This process is

almost identical with the auto-tuning process for the velocity loop.

Set the auto-tuning options as you did in the Tuning Velocity Loop dialog box:

1. From the Step 1: Select the Tuning Type drop-down list, select Auto Tuning for

Dual Loop Design.

When you make your selection, the text boxes of the data box will change accordingly.

2. In the Step 2: Select Auto Tuning Parameters block, the Expert tuning for bounded

motion option will be selected; it is the only option available for dual loops.

3. Use the Response slider to select the system performance margin that you require and

set the System Noise slider to the optimal plant noise level (refer to section

2.9.2).

4. In the middle of the dialog box, the Wizard displays the default test parameters. To

manually define these values, click Custom Test and enter the following values in

the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks:

 Step: the level at which the step command begins, at the system location prior to

the start of the test.

 Speed: the maximum speed allowed for the PTP motion. This value may not be

reached if the motion distance and the allowed accelerations are small.

 Smooth Factor: the time required to reach full acceleration.

 Acceleration: the rate at which the profiled motion gains speed.

 Deceleration: the rate at which the profiled motion slows down.

 Record Resolution (μsec) is the test data record resolution.

 Maximum Record Time (sec) is the test data record time length.

Composer User Manual Using the Wizard

MAN-COMPUM (Ver. 1.9)

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Elmomc SimplIQ Servo Drives Composer User Manual Manual de usuario Pagina 43